Restructuring - Rollforward (Details) - USD ($) $ in Thousands	3 Months Ended
	Apr. 03, 2022	Apr. 04, 2021
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	$ 2,137
Charges (Benefits)	627	$ 3,766
(Payments) Recoveries	(1,264)
Restructuring reserve, end	1,500
January 2021 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	764
Charges (Benefits)	38	3,684
(Payments) Recoveries	(17)
Restructuring reserve, end	785
December 2019 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	1,373
Charges (Benefits)	183	84
(Payments) Recoveries	(1,245)
Restructuring reserve, end	311
Severance and benefits | January 2021 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	764
Charges (Benefits)	37	3,671
(Payments) Recoveries	(16)
Restructuring reserve, end	785
Severance and benefits | December 2019 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	1,373
Charges (Benefits)	183	(28)
(Payments) Recoveries	(1,245)
Restructuring reserve, end	311
Other costs | January 2021 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	0
Charges (Benefits)	1	13
(Payments) Recoveries	(1)
Restructuring reserve, end	0
Other costs | December 2019 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	0
Charges (Benefits)	0	112
(Payments) Recoveries	0
Restructuring reserve, end	0
Other restructuring
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	0
Charges (Benefits)	406	$ (2)
(Payments) Recoveries	(2)
Restructuring reserve, end	$ 404